Control method of fixed automatic charging system

Abstract

The invention relates to the technical field of automatic charging control, in particular to a control method of a fixed automatic charging system. The method comprises the following actions that a vehicle enters a parking range, a mechanical arm is started, the mechanical arm moves to a recognition position to take a picture, the shape of a gun insertion opening is matched through a pre-established template, position coordinates of the gun insertion opening are obtained, the mechanical arm carries out gun insertion charging, and charging is completed or stopped. And the mechanical arm drives the charging gun to return to the original point, and the charging process is ended. By the adoption of the fixed automatic charging system, the equipment body where the control panel is located is separated from the mechanical arm base, and the occupied area is reduced compared with a moving trolley; a template is established in advance, a template matching method is adopted, the position coordinates of an automobile gun inserting opening are judged, a fixed automatic charging system is commanded to move a charging gun to be directly sent to the gun inserting opening for charging, and the method is intelligent, convenient and high in accuracy.

Description

Technical Field

[0001] The present application relates to the technical field of automatic charging control, and in particular to a control method for a fixed automatic charging system. Background Art

[0002] At present, the automatic charging system of new energy vehicles often uses a mobile robot arm to carry a mobile car, which can be fully automatically charged by plugging and unplugging the charging gun. It takes a long time for the mobile car to charge from the resting position to the charging port of the parking space due to the long distance. In addition, the mobile car needs to have enough space to move to the side of the vehicle to charge the vehicle, so it takes up a lot of space. Compared with the control method of the mobile car, the control method of the fixed automatic charging system increases the difficulty of finding and docking the gun port, which needs to be overcome urgently. Application Contents

[0003] The purpose of the present application is to provide a control method for a fixed automatic charging system to solve the problems existing in the prior art.

[0004] In order to solve the above-mentioned technical problems, the present application provides the following technical solutions: a control method for a fixed automatic charging system, the fixed automatic charging system comprising a control panel, a robotic arm, a robotic arm base and a charging gun, a visual camera being installed at the end of the robotic arm, and the control method comprising the following actions: when a vehicle enters a parking range, the robotic arm is started, the robotic arm moves to an identification position and takes a photo using the visual camera, and the shape of the gun insertion port of the vehicle is matched through a pre-established template to obtain the gun insertion port position, and then obtain the gun insertion port position coordinates; the robotic arm moves the charging gun to insert the gun insertion port, and the vehicle starts charging; when charging is completed or charging is stopped, the robotic arm takes the charging gun back to the origin.

[0005] Furthermore, the method for confirming the parking range is: the parking range is determined by defining a distance L1 or an arm span distance of the robotic arm; the distance L1 is the distance between the center point of the driving shaft at the end of the robotic arm and the center points of the two vehicle stops.

[0006] Furthermore, the identification position is: before the initial automatic charging, the identification position coordinates (x S1 ,y S1 ,z S1 ).

[0007] Furthermore, the specific method of obtaining the position of the gun port by matching the shape of the gun port of the vehicle with the pre-established template and then obtaining the position coordinates of the gun port is as follows: Before using the visual camera, the initial position coordinates (x W1 ,y W1 ,zW1 ), the initial position coordinates of the visual camera (x W1 ,y W1 ,z W1 ) is established as a template and stored in the control board; When the robot arm receives the start command from the control board, the visual camera moves from the initial position coordinate (x W1 ,y W1 ,z W1 ) and moved to the pre-established recognition position coordinates (x S1 ,y S1 ,z S1 ) The visual camera on the robot arm takes a photo of the gun insertion port position on the vehicle to obtain the photo and the gun insertion port shape in the photo. The visual camera uses the template matching method to calculate the current position coordinate (x S1 ,y S1 ,z S1 ) The position of the gun insertion port is converted by comparing the imaging distance of the gun insertion port, thereby obtaining the gun insertion port position coordinates (x C1 ,y C1 ,z C1 ).

[0008] Furthermore, the specific method of the mechanical arm moving the charging gun to insert the charging gun port is: Get the gun insertion position coordinates (x C1 ,y C1 ,z C1 ), the control panel sends a command to the robotic arm, instructing the robotic arm to take out the charging gun; The robotic arm drives the charging gun to move to the identification position coordinate (x S1 ,y S1 ,z S1 ) to initially position the charging gun; Then the robot arm inserts the charging gun to the gun insertion port position coordinate (x C1 ,y C1 ,z C1 ) is located at the position to complete the docking of the charging gun and the gun plug port.

[0009] Furthermore, the specific method of the robotic arm moving the charging gun to insert into the gun insertion port also includes a process in which the robotic arm is disengaged from the charging gun: a secondary connector is provided at the end of the charging gun, and after the gun is inserted, the control panel commands the robotic arm to disengage from the secondary connector, thereby disengaging from the charging gun.

[0010] Furthermore, the actual secondary connector position coordinates (xL1 ,y L1 ,z L1 ): The visual camera on the robot arm takes a picture of the secondary connector and converts the imaging distance to obtain the actual secondary connector position coordinates (x L1 ,y L1 ,z L1 ).

[0011] Furthermore, the specific method of the mechanical arm bringing the charging gun back to the origin also includes connecting the mechanical arm and the charging gun with the secondary connector: the mechanical arm according to the actual secondary connector position coordinates (x L1 ,y L1 ,z L1 ) goes to dock with the secondary connector and then connects to the charging gun; after the robotic arm docks with the secondary connector, the control board commands the robotic arm to execute the motion trajectory and return to the origin of the robotic arm base to wait.

[0012] Compared with the prior art, the beneficial effects achieved by this application are: 1. This application uses a robotic arm base to separate the device body where the control panel is located from the robotic arm base, which can reduce the footprint compared to a mobile cart, is easy to install, and is also convenient for people to park and get on and off the vehicle.

[0013] 2. This application determines the position coordinates of the car's charging port by pre-establishing a template and using a template matching method, and through positioning and identification, commands the robotic arm to move the charging gun directly to the charging port for charging. It is intelligent, convenient and highly accurate.

[0014] 3. After charging is completed and before the robotic arm connects to the charging gun again, the present application first determines the position of the secondary connector through positioning identification, commands the robotic arm to move to the position of the secondary connector, aligns and inserts it, and thus connects the charging gun. This process further improves the reliability and safety of the automatic charging docking process.

[0015] 4. The fixed automatic charging system of the present application can be equipped with two charging guns and a secondary connector, etc., to improve the flexibility, reliability and safety of charging. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The accompanying drawings are used to provide a further understanding of the present application and constitute a part of the specification. Together with the embodiments of the present application, they are used to explain the present application and do not constitute a limitation of the present application. In the accompanying drawings: Figure 1 is a flow chart of a control method of an embodiment.

[0017] Figure 2 It is a schematic diagram of the location of the distance L1 in the embodiment.

[0018] Figure 3 It is a schematic diagram of the working state of the embodiment when taking pictures.

[0019] Figure 4 Schematic diagram of the working state of the embodiment during charging. DETAILED DESCRIPTION

[0020] The following will be combined with the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0021] This embodiment discloses a control method for a fixed automatic charging system, which is executed based on the existing structural modules of the fixed automatic charging system. The existing structural modules of the fixed automatic charging system include a control panel, a robotic arm, a robotic arm base, a charging gun and a wire-winding device for the charging gun, a storage device for the charging gun, etc. A visual camera is installed at the end of the robotic arm for taking pictures. A secondary connector can be provided at the end of the charging gun as required to separate the robotic arm from the charging gun. A storage device for the charging gun is provided on the base of the robotic arm to improve neatness.

[0022] As mentioned above, the internal program of the control board can be written according to the process of the control method, and the electronic components of the control board can be purchased from the market; the robot arm, robot arm base, charging gun, wire take-up device, and storage device can adopt the existing product structure on the market; the secondary connector can adopt a quick-change mechanism for automatic charging with patent number 202420282599.1; the visual camera can be purchased from an existing 3D camera on the market. The above structure is not limited and can also be replaced by other structures.

[0023] The following is a combination of the existing structural modules and Figure 1 to Figure 4 , and further elaborates on the control method of the fixed automatic charging system.

[0024] The control method generally includes the following steps: Step: the vehicle enters the parking range, stops and is in a stationary state.

[0025] Specifically, the present embodiment can determine the parking range by defining the distance L1 or the arm span distance of the mechanical arm. When the distance L1 is used, the distance L1 between the center point position of the driving shaft at the end of the mechanical arm and the center point position of the two car blocks is defined, and the relative position of this distance L1 can be used to convert the parking range required for parking. For example, the center point of the driving shaft at the end of the mechanical arm is defined as the first midpoint, the midpoint between the car blocks of the left and right parking spaces is named the second midpoint, and the distance between the first midpoint and the second midpoint is defined as the center distance. The center distance ranges from 0.3m to 0.4m, preferably 0.35m, and the circle with a center distance of 0.35 meters as the radius is the parking range. The center distance is a relatively safe absolute distance, which can be defined as the distance L1. Of course, other indicators can also be used to convert the parking range. For example, the arm span distance of the mechanical arm is converted into the parking range. The arm span distance is 0.1 to 1.5 meters. When the vehicle is parked far away from the robotic arm, 1.5 meters is the farthest arm span distance, which is the farthest parking range. For example, when the vehicle is parked far away from the robotic arm, 0.1 meters is the shortest arm span distance, which is the shortest parking range.

[0026] The parking requirement is that after the vehicle is reversed into the parking space, the tires can be as close to the parking barrier as possible. The parking barrier that originally existed in the parking space is only used as a reminder mark in this case and is not required. If there is no parking barrier, other inherent marks on the parking space can be replaced, such as a yellow parking reminder line.

[0027] Alternatively, lidar can be used to confirm that the vehicle has entered the parking range.

[0028] In addition, there is a mark indicating the range of motion of the robotic arm under the robotic arm, which circles the dangerous area to prevent the driver from entering the range of motion of the robotic arm when the robotic arm is working.

[0029] Steps: start the robotic arm, the control board drives the robotic arm, and the robotic arm starts to move.

[0030] Specifically, the start-up can be started by swiping a card manually or by unmanned start-up. Unmanned start-up can be done by binding the vehicle to the control panel of the robotic arm through Bluetooth, and after parking, the control panel sends a command to the robotic arm to automatically start working.

[0031] The control device body where the control panel is located, such as an electrical cabinet, can be installed separately from or in combination with the robot arm base. When installed separately, the control device body where the control panel is located can be away from the parking area, leaving more space near the parking space. At the same time, the volume of the robot arm base is relatively reduced, so that the robot arm occupies less space near the parking space. In addition, since the base of the robot arm is fixed, it no longer occupies additional ground space compared to a mobile cart.

[0032] Step: the robot arm moves to the recognition position and uses the visual camera to take pictures. The shape of the vehicle's gun port is matched through a pre-established template to obtain the gun port position, and then the gun port position coordinates are obtained.

[0033] Specifically, the identification position in the above steps refers to: before the initial automatic charging, the identification position coordinates (x S1 ,y S1 ,z S1 ), as a template. Among them, the center point of the driving axis at the end of the robot arm is the origin, x S1 y is the horizontal distance between the identification point and the center point of the drive shaft at the end of the robot arm; S1 Refers to the longitudinal horizontal distance between the identification point and the center point of the driving axis at the end of the robot arm; z S1 Refers to the horizontal distance between the identification point and the ground of the parking space. The photography in the above steps is performed by a visual camera, which has the function of converting the coordinates of the visual camera itself into the coordinates of the photographed object through distance comparison. Before the visual camera is used by the robotic arm, the initial position coordinates of the visual camera (x W1 ,y W1 ,z W1 ), the coordinates are established as a template and stored in the control board. Among them, the center point of the driving axis at the end of the robot arm is the origin, x W1 y is the horizontal distance between the initial point of the visual camera and the center point of the driving axis at the end of the robot arm; W1 It refers to the longitudinal horizontal distance between the initial point of the visual camera and the center point of the driving axis at the end of the robot arm; z W1 It refers to the horizontal distance between the initial point of the visual camera and the ground of the parking space. When the robot arm receives the start command from the control board, the control board commands the robot arm to move the visual camera from the initial position coordinate of the visual camera (x X1 ,y X1 ,z X1 ) and move to the pre-established recognition position coordinates (x S1 ,y S1 ,z S1 ), the visual camera on the robot arm takes a photo of the approximate position of the gun port on the vehicle, and the shooting range is set to a large range so that the gun port can fall into the photo. The visual camera sends its current recognition position coordinates (x S1 ,y S1 ,z S1 ) is converted into the coordinates of the gun insertion port through the imaging distance comparison, thereby obtaining the gun insertion port position coordinates (x C1 ,y C1 ,z C1 ). Among them, the center point of the driving axis at the end of the robot arm is the origin, x C1y is the horizontal distance between the gun insertion point and the center point of the drive shaft at the end of the robot arm; C1 Refers to the longitudinal horizontal distance between the gun insertion point and the center point of the drive shaft at the end of the robot arm; z C1 It refers to the horizontal distance between the gun muzzle point and the ground of the parking space.

[0034] The visual camera sends its current recognition position coordinates (x S1 ,y S1 ,z S1 ) is converted into the position coordinates of the gun insertion muzzle (x C1 ,y C1 ,z C1 ) The principle used is the template matching method. The principle of the template matching method is as follows: the gun port is photographed as a circle, and the circle has a visual projection in the direction of the visual camera, which is projected as an image of a fixed ratio. Since the focal length of the visual camera is fixed, there is a projection of the gun port on the photo, so we know the focal length of the position between the visual camera and the gun port, and we can convert the coordinates. For example, when the gun port projection image is modeled, the length and diameter are 10mm, but the length and diameter of the gun port in the photo are only 8mm. According to the ratio, the focal length is judged to be 1.2mm. And so on, each distance is inferred to convert the gun port coordinates.

[0035] Before the initial automatic charging, the gun port coordinates are pre-established and stored in the control board. For example, the gun port template coordinates (x C1 ,y C1 ,z C1 ) as the stored template. C1 ,y C1 ,z C1 ) is compared with the pre-established gun muzzle template coordinates. If the deviation is too large, the actual gun muzzle coordinates need to be recalculated through an algorithm program.

[0036] Steps: The robot arm moves the charging gun and inserts it into the gun socket, and the vehicle starts charging.

[0037] Specifically, obtain the gun insertion position coordinates (x C1 ,y C1 ,z C1 ), the control panel sends a command to notify the robot arm, which takes out the charging gun from the storage device and drives the charging gun to move to the identification position coordinate (x S1 ,y S1 ,z S1 ) for initial positioning, and then the robot arm sends the charging gun to the gun insertion port position coordinate (x C1 ,y C1 ,z C1 ) to complete the docking of the charging gun and the gun port.

[0038] Based on actual application, optional steps include the robot arm disconnecting from the charging gun using the secondary connector.

[0039] The purpose of the mechanical arm being separated from the charging gun is that in the case of two parking spaces, the mechanical arm can be separated to take another charging gun to serve the vehicle in the other parking space. In this embodiment, the automatic charging control system of a fixed automatic charging system can serve the charging of vehicles in one or two parking spaces.

[0040] Specifically, after the charging gun is docked with the gun plug port, the control board commands the mechanical arm to detach from the charging gun through the secondary connector. The tail of the charging gun is the secondary connector. After the gun is plugged in, the control board commands the mechanical arm to detach from the secondary connector, thereby detaching from the charging gun.

[0041] Based on the actual application, optional steps include returning the robot arm to the origin.

[0042] Specifically, after the robot arm is separated from the charging gun, the control panel commands the robot arm to return to the robot arm base and wait. At this time, if there is a charging demand in the second parking space, the robot arm can be instructed to serve the second vehicle.

[0043] Steps, charging is completed or charging is stopped.

[0044] Specifically, there are three reminder methods for charging completion or charging stop: the first is that the vehicle's internal system automatically cuts off charging when the battery is fully charged; the second is that the driver stops charging through an external APP such as a mobile phone; the third is that in an emergency, an emergency stop is triggered to stop charging.

[0045] Depending on the actual application, an optional step may include calculating the actual secondary connector coordinates.

[0046] Specifically, after charging is completed, the control board commands the robot arm to move to the recognition position coordinate (x S1 ,y S1 ,z S1 ), take a photo and calculate the actual secondary connector position coordinates (x L1 ,y L1 ,z L1 ). Among them, the center point of the driving axis at the end of the robot arm is the origin, x L1 y is the horizontal distance between the secondary connector location and the center point of the drive shaft at the end of the robot arm; L1 Refers to the longitudinal horizontal distance between the secondary connector position point and the center point of the drive shaft at the end of the robot arm; z L1 It refers to the horizontal distance between the secondary connector position and the ground of the parking space. Specifically, first take a picture of the secondary connector through the visual camera on the robot arm, and convert the imaging distance to obtain the actual secondary connector position coordinates (xL1 ,y L1 ,z L1 ).

[0047] Based on the actual application, the optional steps include connecting the robot arm and the charging gun using a secondary connector.

[0048] Specifically, the robot arm calculates the actual secondary connector position coordinates (x L1 ,y L1 ,z L1 ) to dock with the secondary connector and then connect to the charging gun. After the robot arm docks with the secondary connector, a communication signal will be sent to the control board, and the control board will command the robot arm to execute the next step.

[0049] Step 1: The robot arm returns to the origin with the charging gun and puts it back into the storage device.

[0050] Specifically, the control board commands the mechanical arm to move and pull out the charging gun, and return the charging gun to the storage device, so that the charging gun is reset. In this embodiment, the insertion port position of the storage device for the charging gun matches the charging gun, and the charging gun can accurately enter the insertion port of the storage device.

[0051] Step 1, end the charging process. Charging is completed.

[0052] The above steps are for servicing a vehicle in one parking space. If two parking spaces need to be serviced at the same time, the execution actions are similar and can be performed alternately. At the same time, the initial position coordinates (x W2 ,y W2 ,z W2 ), the second recognition position coordinates (x S2 ,y S2 ,z S2 )、The second gun insertion position coordinates (x C2 ,y C2 ,z C2 )、The second actual secondary connector position coordinates (x L2 ,y L2 ,z L2 ) need to be recorded and stored simultaneously.

[0053] It is obvious to those skilled in the art that the present application is not limited to the details of the exemplary embodiments described above, and that the present application can be implemented in other specific forms without departing from the spirit or essential features of the present application. Therefore, no matter from which point of view, the embodiments should be regarded as exemplary and non-limiting, and the scope of the present application is defined by the appended claims rather than the above description, and it is intended that all changes falling within the meaning and scope of the equivalent elements of the claims are included in the present application. Any mark in a claim should not be regarded as limiting the claim involved.

Claims

1. A control method for a fixed automatic charging system, the fixed automatic charging system comprising a control panel, a mechanical arm, a mechanical arm base and a charging gun, wherein a visual camera is installed at the end of the mechanical arm, characterized in that: The control method includes the following actions: when the vehicle enters the parking range, the robotic arm is started, the robotic arm moves to the identification position and takes a photo with the visual camera, and the shape of the gun insertion port of the vehicle is matched through a pre-established template to obtain the gun insertion port position, and then obtain the gun insertion port position coordinates; the robotic arm moves the charging gun to insert the gun insertion port, and the vehicle starts charging; when charging is completed or stopped, the robotic arm returns to the origin with the charging gun.

2. The control method of the fixed automatic charging system according to claim 1, characterized in that: The method for confirming the parking range is: the parking range is determined by defining a distance L1 or a span distance of the robotic arm; the distance L1 is the distance between the center point of the driving shaft at the end of the robotic arm and the center points of the two vehicle stops.

3. The control method of the fixed automatic charging system according to claim 1, characterized in that: The identification position is: before the initial automatic charging, the identification position coordinates (x S1 ,y S1 ,z S1 ).

4. The control method of the fixed automatic charging system according to claim 3, characterized in that: The specific method of obtaining the position of the gun port by matching the shape of the gun port of the vehicle with the pre-established template and then obtaining the position coordinates of the gun port is as follows: Before using the visual camera, the initial position coordinates (x W1 ,y W1 ,z W1 ), the initial position coordinates of the visual camera (x W1 ,y W1 ,z W1 ) is established as a template and stored in the control board; When the robot arm receives the start command from the control board, the visual camera moves from the initial position coordinate (x W1 ,y W1 ,z W1 ) and moved to the pre-established recognition position coordinates (x S1 ,y S1 ,z S1 ) The visual camera on the robot arm takes a photo of the gun insertion port position on the vehicle to obtain the photo and the gun insertion port shape in the photo. The visual camera uses the template matching method to calculate the current position coordinate (x S1 ,y S1 ,z S1 ) The position of the gun insertion port is converted by comparing the imaging distance of the gun insertion port, thereby obtaining the gun insertion port position coordinates (x C1 ,y C1 ,z C1 ).

5. The control method of the fixed automatic charging system according to claim 4, characterized in that: The specific method of the mechanical arm moving the charging gun to insert into the gun insertion port is: Get the gun insertion position coordinates (x C1 ,y C1 ,z C1 ), the control panel sends a command to the robotic arm, instructing the robotic arm to take out the charging gun; The robotic arm drives the charging gun to move to the identification position coordinate (x S1 ,y S1 ,z S1 ) to initially position the charging gun; Then the robot arm inserts the charging gun to the gun insertion port position coordinate (x C1 ,y C1 ,z C1 ) is located at the position to complete the docking of the charging gun and the gun plug port.

6. The control method of the fixed automatic charging system according to claim 5, characterized in that: The specific method of the robotic arm moving the charging gun to insert into the gun insertion port also includes the robotic arm disengaging from the charging gun: a secondary connector is provided at the end of the charging gun, and after the gun is inserted, the control board commands the robotic arm to disengage from the secondary connector, thereby disengaging from the charging gun.

7. The control method of the fixed automatic charging system according to claim 6, characterized in that: The specific method of the robot arm bringing the charging gun back to the origin also includes calculating the actual secondary connector position coordinates (x L1 ,y L1 ,z L1 ): The visual camera on the robot arm takes a picture of the secondary connector and converts the imaging distance to obtain the actual secondary connector position coordinates (x L1 ,y L1 ,z L1 ).

8. The control method of the fixed automatic charging system according to claim 7, characterized in that: The specific method of the mechanical arm carrying the charging gun back to the origin also includes connecting the mechanical arm and the charging gun with the secondary connector: the mechanical arm according to the actual secondary connector position coordinates (x L1 ,y L1 ,z L1 ) goes to dock with the secondary connector and then connects to the charging gun; after the robotic arm docks with the secondary connector, the control board commands the robotic arm to execute the motion trajectory and return to the origin of the robotic arm base to wait.

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